Hi! We are Team 149, Andrew, Faizaan, Harry, Jack and Niall. We would like to welcome you to our
website designed for our project! On the right you can see a video of our early arm workings for
this project.
Please keep scrolling to find out more about the project and get an
understanding of its workings.
The camera will detect the two ArUco markers to detect relative positions. Communicate with flight controller to reached desired position. Use positioning to actuate arm to correct position.
A Raspberry Pi processes the camera data, then extends the Servos to a desired position. In this position the actuator extends placing the payload in the receiver.
Once the actuator is extended the energise to hold electromagents turn on connecting to the reciever. The energise to release electromagents switch pulling the payload from the carrier to the receiver.
Once transfer is complete the engise to hold magnets are switched off and the arms disconnect. The arms return to safe flying positions and the drone continue on.
A future step is to implement a counterbalance that will extend with the arm extension and keep the centre of mass in the workable region of the drone.
This is a video of our very first working arm. It shows our first iteration of the code and understanding of programming using a Raspberry Pi and GPIO Pins. It also shows a prelimnary build from old parts which inspired our design and enabled our CAD developers to work at the same time as our programmers.
This is a video of our arm on a lego stand moving as the ArUco Markers are moved into different positions. It works by using one marker as a control and measuring the relative distance. Then the arm will move to try in an attempt to correct the Z dimension. As the movement f the arm doesnt cause a marker movement it always reaches its maximu extension point but once placed on the arms this will work as required.
This is a video of a complete working circuit. The most obvious movement is from the servos and the linear actuator but on certain button presses the electromagnets can be toggled on and off too. A new control method has also been implemented here for the servos using hardware timing which removes the initial jitter shown in some of the other videos.
Harry is well suited to this role through his engineering degree and job. At university, he com- pleted Arduino projects to code RC helicopters to hover, a “Mars rover” to travel a specified distance, and a colonoscopy robotic arm. Harry has been exposed to many programming languages and concepts, including Python, Visual Basic, JavaScript, other web languages, and SQL, giving him a broad understanding of coding languages and logic. He is also work- ing on the IMechE UAS Challenge, where he is part of the software team, learning about flight controllers and other specific drone systems.
Andrew is an innovative Systems Engineer with extensive experience at Airbus. He specialises in systems design, integration, and control systems, contributing to the design of advanced drone payload transfer systems. At Airbus, he developed and integrated complex aerospace systems, ensuring industry compliance. He collaborated with cross-functional teams to resolve system issues and used MATLAB for system modelling and simulation. Andrew is proficient in System Design and Integration, Project Management, Problem-solving, and Control Systems Development.
Jack has several years of experience using CAD software, specifically SOLIDWORKS. He can design complex structures on the computer and, with his two years of experience in design for manufacture, he understands how to modify these designs to maximise in-house component manufacturing.
Niall has 5 years of experience as a supermarket cashier, requiring accurate money han- dling. He also spent a year on the Mechanical Engineering Society committee at the Uni- versity of Leeds, working with the treasurer on expenditure approval. This experience has equipped him to succeed as project treasurer. Niall has completed a year-long challenge of modifying an RC plane to maximise its payload, gaining skills and knowledge in aircraft stability aerodynamics. This project allows him to expand his aerodynamic knowledge to rotary-wing aircraft, helping the team achieve the most stable system possible.
Faizaan is a drone pilot with special expertise in selecting the best drones for missions. He excels in designing and manufacturing drones and payload transfer systems. His knowledge of materials science, combined with his drone expertise, ensures optimal design choices. As a Drive Test Engineer at Jaguar Land Rover, Faizaan extensively worked on finite element analysis of various materials, shapes, and structures, enabling him to design structurally superior drone components.
